[Question]: Isaac sim打开之后黑屏、一直左转

[zhu-bingo]

Question

基本情况如下：
*配置情况：
server- A800
client- RTX A4000

*问题描述：
Isaac sim打开之后黑屏、一直输出左转：

============ output step=706  ←←←←
s2 infer finish!!
get s2 output lock
=============== [2, 2, 2, 2] =================
Output discretized traj: [2] 0
INFO:     192.168.3.104:48244 - "POST /agent/internvla_n1/step HTTP/1.1" 200 OK
=============== [2, 2, 2] =================
Output discretized traj: [2] 0
INFO:     192.168.3.104:54620 - "POST /agent/internvla_n1/step HTTP/1.1" 200 OK
=============== [2, 2] =================
Output discretized traj: [2] 0
INFO:     192.168.3.104:54632 - "POST /agent/internvla_n1/step HTTP/1.1" 200 OK
=============== [2] =================
Output discretized traj: [2] 0
INFO:     192.168.3.104:54638 - "POST /agent/internvla_n1/step HTTP/1.1" 200 OK
======== Infer S2 at step 944========

*data目录：

*cfg配置：

from internnav.configs.agent import AgentCfg
from internnav.configs.evaluator import (
    EnvCfg,
    EvalCfg,
    EvalDatasetCfg,
    SceneCfg,
    TaskCfg,
)

eval_cfg = EvalCfg(
    agent=AgentCfg(
        server_port=9772,
        server_host="10.20.20.152",
        model_name='internvla_n1',
        ckpt_path='',
        model_settings={
            'env_num': 1,
            'sim_num': 1,
            'model_path': "checkpoints/InternVLA-N1-DualVLN",
            'camera_intrinsic': [[585.0, 0.0, 320.0], [0.0, 585.0, 240.0], [0.0, 0.0, 1.0]],
            'width': 640,
            'height': 480,
            'hfov': 79,
            'resize_w': 384,
            'resize_h': 384,
            'max_new_tokens': 1024,
            'num_frames': 32,
            'num_history': 8,
            'num_future_steps': 4,
            'device': 'cuda:0',
            'predict_step_nums': 32,
            'continuous_traj': True,
            'infer_mode': 'partial_async',  # You can choose "sync" or "partial_async", but for this model, "partial_async" is better.
            # debug
            'vis_debug': True,  # If vis_debug=True, you can get visualization results
            'vis_debug_path': './logs/test_n1/vis_debug',
        },
    ),
    env=EnvCfg(
        env_type='internutopia',
        env_settings={
            'use_fabric': False,  # Please set use_fabric=False due to the render delay;
            'headless': False,
        },
    ),
    task=TaskCfg(
        task_name='test_n1',
        task_settings={
            'env_num': 1,
            'use_distributed': False,  # If the others setting in task_settings, please set use_distributed = False.
            'proc_num': 1,
            'max_step': 1000,  # If use flash mode，default 1000; descrete mode, set 50000
        },
        scene=SceneCfg(
            scene_type='mp3d',
            scene_data_dir='data/scene_data/mp3d_pe',
        ),
        robot_name='h1',
        robot_flash=True,  # If robot_flash is True, the mode is flash (set world_pose directly); else you choose physical mode.
        flash_collision=False,  # If flash_collision is True, the robot will stop when collision detected.
        robot_usd_path='data/Embodiments/vln-pe/h1/h1_internvla.usd',
        camera_resolution=[640, 480],  # (W,H)
        camera_prim_path='torso_link/h1_1_25_down_30',
        one_step_stand_still=True,  # For dual-system, please keep this param True.
    ),
    dataset=EvalDatasetCfg(
        dataset_type="mp3d",
        dataset_settings={
            'base_data_dir': 'data/vln_pe/raw_data/r2r',
            'split_data_types': ['val_unseen'],  # 'val_seen'
            'filter_stairs': True,  # For iros challenge, this is False; For results in the paper, this is True.
            # 'selected_scans': ['zsNo4HB9uLZ'],
            # 'selected_scans': ['8194nk5LbLH', 'pLe4wQe7qrG'],
        },
    ),
    eval_type='vln_distributed',
    eval_settings={
        'save_to_json': True,
        'vis_output': True,
        'use_agent_server': True,  # If use_agent_server=True, please start the agent server first.
    },
)

[kew6688]

您好！ 可以确认一下场景的usd是否能正常打开，scene_data/mp3d_pe/xxx/ 里面文件都有正确下载和解压，黑屏的情况可能是场景没有加载